US7448489B2 - Apparatus for transporting workpieces in presses - Google Patents

Apparatus for transporting workpieces in presses Download PDF

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Publication number
US7448489B2
US7448489B2 US11/490,926 US49092606A US7448489B2 US 7448489 B2 US7448489 B2 US 7448489B2 US 49092606 A US49092606 A US 49092606A US 7448489 B2 US7448489 B2 US 7448489B2
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US
United States
Prior art keywords
rail
supporting
gripper
transporting
locks
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US11/490,926
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English (en)
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US20060260381A1 (en
Inventor
Rainer Reichenbach
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Maschinenfabrik Mueller Weingarten AG
Mueller Weingarten AG
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Mueller Weingarten AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Assigned to MULLER WEINGARTEN AG reassignment MULLER WEINGARTEN AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: REICHENBACH, RAINER
Publication of US20060260381A1 publication Critical patent/US20060260381A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B21D43/057—Devices for exchanging transfer bars or grippers; Idle stages, e.g. exchangeable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B21D43/055—Devices comprising a pair of longitudinally and laterally movable parallel transfer bars

Definitions

  • the invention relates to an apparatus for transporting workpieces through processing stations of a press, in particular a transfer press or the like.
  • the presses contain transporting apparatuses, which transport the workpieces from one work station to the next.
  • the transporting apparatus may be configured as a 2-way transfer means or 3-way transfer means, the movement axes of the transporting means thereby being defined.
  • a 2-way transfer means is provided with supporting rails, which run through the press on both sides.
  • Crossmembers equipped with suction devices or the like are fastened on the supporting-rails for workpiece-transporting purposes The crossmembers execute simultaneous horizontal and vertical movements.
  • the supporting rails are designed as so-called gripper rails, which, in addition to horizontal and vertical movements, also execute a transverse movement and grip the workpiece by means of gripper elements in order to transport the workpiece from one processing stage to the next.
  • the 3-way or gripper-type transfer means is preferably used in practice for transporting flexurally rigid sheet-metal parts which can be gripped from the outside.
  • Driving action along the 3 axes can take place directly, via cam plates and levers, by means of the press drive, or each movement axis is provided with a dedicated drive.
  • a 3-way transfer means with dedicated drives in each case is disclosed in U.S. Pat. No. 4,887,446.
  • the vertical movement and the closing movement, in the direction transverse to that in which workpieces run through the press, take place by means of electric motors or hydraulic cylinders.
  • An electric linear drive is proposed for executing the horizontal movement of the supporting rails.
  • this movement can also be produced by virtue of transporting carriages on the supporting rails.
  • An object of the invention is to design, for a press and in particular for a transfer press with 2-way or 3-way transfer means, a linear drive for the horizontal movement such that the linear drive is of cost-effective design and, even while meeting stringent power-related requirements, provides for a compact construction.
  • the linear drive is intended to allow the gripper rails to be exchanged in a straightforward manner.
  • the present invention is based on the idea of providing two linear drives per supporting rail to effectuate the horizontal movement.
  • These linear drives are arranged such that the supporting rail can be changed in a straightforward manner.
  • the linear motors are located essentially at the outer ends of the supporting rail. These outer ends are separate from the supporting rail, which is to be exchanged and are connected to the supporting-rail in a releasable manner via supporting-rail locks.
  • the supporting-rail locks are likewise located in separate endpieces, and only a clamping head engages in the supporting rail, which is to be exchanged.
  • the connection is released and, by means of the linear motors, the endpieces are moved horizontally apart from one another by a defined distance, this resulting in a straightforward tool-changing operation.
  • This movement sequence advantageously allows the supporting-rail lock to be designed in a very straightforward form.
  • the supporting rail is designed as a gripper rail.
  • the press bed is designed as a sliding table, on which the tool is located. It is also the case that all of the component-dependent accessories, which are necessary for workpiece-transporting purposes, are likewise set down on the sliding table and moved out of the press.
  • a new tool is clamped in place, and the component-dependent accessories are arranged on a sliding table located outside the press. Following a changeover of the sliding tables, the press is converted, in a fully automatic manner, to the new production.
  • the supporting-rail parts, which have been exchanged, are also clamped in position by the supporting-rail locks.
  • the linear drives move the supporting-rail endpieces, with the supporting-rail locks located therein, in the direction of the supporting rail to the extent where the clamping heads can engage in the mount provided in the supporting rail.
  • the supporting-rail locks clamp the supporting rail and the endpieces together, and the supporting rail is also thereby fixed to the linear drive.
  • linear drives advantageously fulfills the object of the invention.
  • Relatively recent developments make available highly dynamic drives with quick displacement sequences. Since these drives operate without any wear, a constant high level of positioning accuracy is ensured throughout the service life of the drive.
  • a compact and low-cost configuration is achieved on account of (i) the high power density of the linear drives (ii) the fact that there are two drives per supporting rail, and (iii) the drives are integrated directly at the supporting-rail ends.
  • a further advantage of using two drives is that the operational reliability increases since, in the event of one drive failing, the second drive moves the supporting rail and, in particular, the grippers mounted to the gripper rail, out of the collision zone.
  • the invention is used particularly advantageously in the case of a 3-way transfer means. Further advantages and details of the invention can be gathered from the description and from the figures showing an exemplary embodiment.
  • FIG. 1 shows a view of part of a transfer press with a supporting rail, which is designed as a gripper rail, clamped in place,
  • FIG. 2 shows the view in FIG. 1 , but with the gripper rail released
  • FIG. 3 shows a detail of the gripper rail
  • FIG. 4 shows an enlarged view of the right side of the released gripper rail as shown in FIG. 2 .
  • FIG. 5 shows a plan view of the transfer press and gripper rail of FIG. 1 as seen from the section line V-V.
  • FIG. 1 illustrates a transfer press 1 , the ram 2 and sliding table 3 , on which the upper tools 4 and lower tools 5 are fastened.
  • the so-called closing boxes 8 , 9 are arranged in the region of the uprights 6 , 7 . These closing boxes 8 , 9 are provided with drive means which execute a vertical and a closing displacement of the gripper rail 10 .
  • Such closing boxes 8 , 9 are known and are described in detail, for example, in the applicant's patent, DE 43 36 854 A1, the entirety of which is incorporated herein by reference.
  • the gripper rail 10 also has the gripper-rail endpieces 11 , 12 .
  • Gripper-rail locks 13 connect the gripper rail 10 to the endpieces 11 , 12 .
  • the gripper-rail locks 13 are configured as swivel-type tensioning clamps or rotary tensioning clamps.
  • the gripper-rail locks 13 and the basic bodies 14 are integrated with the clamping drive, directly in the hollow profile 25 ( FIG. 3 ) of the gripper-rail endpieces 11 , 12 , while the clamping heads 15 engage, and provide for clamping action, in the corresponding mounts of the gripper rail 10 .
  • the linear drives 16 , 17 each comprise a primary part 18 , 19 and a secondary part 20 , 21 .
  • the primary part 18 , 19 is arranged on the closing boxes 8 , 9 .
  • the secondary part 20 is connected to the gripper-rail endpiece 11 , while the secondary part 21 is divided, and is fastened on both the gripper rail and the gripper-rail endpiece 12 .
  • the linear drives 16 , 17 produce the horizontal movement along the longitudinal axis 26 of the gripper-rail 10 such that the workpieces are moved in the transporting direction 22 and the return displacement counter to the transporting direction 22 .
  • FIG. 2 shows a tool-changing situation.
  • the gripper-rail locks 13 are open and, by virtue of the linear drives 16 , 17 , the gripper-rail endpieces 11 , 12 have been moved horizontally apart from one another, in opposite directions The horizontal movement produces a clearance in relation to the gripper rail 10 uncoupling the gripper-rail 10 from the gripper-rail end pieces 11 , 12 .
  • the uncoupled gripper rail 10 is set down, and retained, on mounts 23 located on the sliding table 3 .
  • Dividing up the secondary part 21 into a part, which is fastened on the gripper rail 10 , and a part, which is located on the gripper-rail endpiece 12 , provides for an extremely short construction and a short horizontal displacement path. This makes it possible to provide for the clearance, which is necessary for gripper-rail-changing purposes.
  • FIG. 3 shows a detail of the invention.
  • the sectional illustration, in the region where the gripper rail is divided, shows the arrangement of the linear drive 16 .
  • the primary part 18 is connected to a mount 23 of the closing box 8 .
  • the secondary part 20 is fastened on the gripper-rail endpiece 11 .
  • the clamping head 15 of the gripper-rail lock is located in a pivoted-in clamping position.
  • the gripper-rail endpiece 11 is guided and retained in the mount 23 by the linear guides 24 .
  • the apparatus according to the invention of the exemplary embodiment can also be transferred, in principle, to a 2-way transfer means with suction-bar workpiece transportation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Reciprocating Conveyors (AREA)
US11/490,926 2004-01-30 2006-07-21 Apparatus for transporting workpieces in presses Expired - Fee Related US7448489B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102004005046A DE102004005046B4 (de) 2004-01-30 2004-01-30 Transportvorrichtung für Werkstücke in Pressen
DE102004005046.5 2004-01-30
PCT/EP2005/000800 WO2005072888A1 (de) 2004-01-30 2005-01-27 Transportvorrichtung für werkstücke in pressen

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/000800 Continuation WO2005072888A1 (de) 2004-01-30 2005-01-27 Transportvorrichtung für werkstücke in pressen

Publications (2)

Publication Number Publication Date
US20060260381A1 US20060260381A1 (en) 2006-11-23
US7448489B2 true US7448489B2 (en) 2008-11-11

Family

ID=34813086

Family Applications (1)

Application Number Title Priority Date Filing Date
US11/490,926 Expired - Fee Related US7448489B2 (en) 2004-01-30 2006-07-21 Apparatus for transporting workpieces in presses

Country Status (10)

Country Link
US (1) US7448489B2 (zh)
EP (1) EP1708835B1 (zh)
JP (1) JP5006050B2 (zh)
KR (1) KR101110907B1 (zh)
CN (1) CN1913987B (zh)
CA (1) CA2553656C (zh)
DE (2) DE102004005046B4 (zh)
ES (1) ES2326325T3 (zh)
MX (1) MXPA06008460A (zh)
WO (1) WO2005072888A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105033087A (zh) * 2015-09-17 2015-11-11 成都爆米花信息技术有限公司 一种钢带自动送料装置
CN105129463A (zh) * 2015-09-17 2015-12-09 成都爆米花信息技术有限公司 一种向钢带裁切机送料的送料机构
CN105151873A (zh) * 2015-09-17 2015-12-16 成都爆米花信息技术有限公司 一种高效钢带送料结构
US11077479B2 (en) * 2016-12-28 2021-08-03 Komatsu Industries Corporation Pressing device and method for controlling pressing device
US11261502B2 (en) * 2018-06-21 2022-03-01 Gestamp Hardtech Ab Method and system for cooling hot components
US11584025B2 (en) 2019-01-18 2023-02-21 Norgren Automation Solutions, Llc Method and apparatus for automated transforming tooling systems

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008038265B4 (de) * 2008-08-15 2014-09-11 H & T Produktions Technologie Gmbh Transfereinrichtung
KR101031751B1 (ko) * 2008-12-26 2011-05-09 김현화 트랜스퍼 로봇의 이송바 착탈장치
DE202009015682U1 (de) * 2009-12-01 2011-04-14 Kuka Systems Gmbh Transporteinrichtung
JP5599619B2 (ja) 2010-01-27 2014-10-01 株式会社小松製作所 トランスファバー
JP2013027915A (ja) * 2011-07-29 2013-02-07 Orii & Mec Corp プレス装置用の材料搬送装置
CN103433401A (zh) * 2013-08-21 2013-12-11 苏州市亿特隆电器有限公司 一种空调传热片多工位级进模用自动送料装置
CN109047476A (zh) * 2018-07-24 2018-12-21 杭州职业技术学院 一种冲压型模

Citations (19)

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Publication number Priority date Publication date Assignee Title
DE3636011A1 (de) 1986-10-23 1988-04-28 Schuler Gmbh L Vorrichtung und verfahren zum kuppeln und entkuppeln von greiferschienenteilen in einer transferpresse
DE3636010A1 (de) 1986-10-23 1988-04-28 Schuler Gmbh L Vorrichtung zum kuppeln und entkuppeln von greiferschienenteilen in einer transferpresse
US4887446A (en) 1988-06-23 1989-12-19 Maher John H System for transferring workpieces through a series of work stations
US5003808A (en) * 1988-06-23 1991-04-02 Maher John H System for transferring workpieces through a series of work stations
DE4336854A1 (de) 1993-10-28 1995-05-04 Mueller Weingarten Maschf Antriebseinrichtung für einen mehrachsigen Transport von Werkstücken in einer Transferpresse
US5423202A (en) 1992-08-24 1995-06-13 Aida Engineering, Ltd. Transfer press
EP0728543A1 (de) 1995-02-22 1996-08-28 SCHULER PRESSEN GmbH & Co. Vorrichtung zum transfer von Werkstücken durch eine Folge von Bearbeitungsstationen
US5557959A (en) * 1994-07-25 1996-09-24 Livernois Research & Development Company Modular die transfer system
DE19528002A1 (de) 1995-07-31 1997-02-06 Erfurt Umformtechnik Gmbh Transporteinrichtung für Blechteile in einer Transferpressenlinie
US5640875A (en) * 1995-10-20 1997-06-24 Livernois Die And Automation Die transfer system with modular transfer drive
EP0838281A1 (de) 1995-02-22 1998-04-29 SCHULER PRESSEN GmbH & Co. Vorrichtung zum Transfer von Werkstücken durch eine Folge von Bearbeitungsstationen
EP0842719A1 (en) 1996-11-15 1998-05-20 Manzoni Presse S.p.A. Transfer device for machine tools
US5771561A (en) * 1995-11-13 1998-06-30 Schuler Pressen Gmbh & Co. Convertible multistation press
US5803231A (en) * 1995-07-20 1998-09-08 Schuler Pressen Gmbh & Co. Transfer arrangement with a three-axle transfer
US6176365B1 (en) * 1996-12-18 2001-01-23 Schuler Pressen Gmbh & Co. Transfer system for a timed vehicle transport
US6185979B1 (en) * 1998-05-05 2001-02-13 Schuler Pressen Gmbh & Co. Kg Traverse-type three-axis transfer system
US6234302B1 (en) * 1998-09-11 2001-05-22 Schuler Pressen Gmbh & Co. Kg Transfer system having a failure protection device
DE10158194A1 (de) 2001-11-28 2003-06-18 Mueller Weingarten Maschf Vorrichtung zum Transport von Formteilen
US7128195B2 (en) * 2004-03-22 2006-10-31 Linear Transfer Systems Ltd. Workpiece transfer system for stamping press

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JPH0390231A (ja) * 1989-09-04 1991-04-16 Orii:Kk フィードバーの連結装置
JPH0533925U (ja) * 1991-10-04 1993-05-07 石川島播磨重工業株式会社 トランスフアープレスのワーク搬送工具交換装置
JP3561019B2 (ja) * 1994-12-27 2004-09-02 株式会社アマダ Ｎｃトランスファープレスの分割フィードバー
JP3495240B2 (ja) * 1998-01-05 2004-02-09 住友重機械工業株式会社 鍛造プレス用トランスファフィーダ

Patent Citations (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3636010A1 (de) 1986-10-23 1988-04-28 Schuler Gmbh L Vorrichtung zum kuppeln und entkuppeln von greiferschienenteilen in einer transferpresse
US4823587A (en) 1986-10-23 1989-04-25 L. Schuler Gmbh Arrangement and method for coupling and decoupling gripper rail parts in a transfer press
DE3636011A1 (de) 1986-10-23 1988-04-28 Schuler Gmbh L Vorrichtung und verfahren zum kuppeln und entkuppeln von greiferschienenteilen in einer transferpresse
US4887446A (en) 1988-06-23 1989-12-19 Maher John H System for transferring workpieces through a series of work stations
US5003808A (en) * 1988-06-23 1991-04-02 Maher John H System for transferring workpieces through a series of work stations
US5423202A (en) 1992-08-24 1995-06-13 Aida Engineering, Ltd. Transfer press
DE4336854A1 (de) 1993-10-28 1995-05-04 Mueller Weingarten Maschf Antriebseinrichtung für einen mehrachsigen Transport von Werkstücken in einer Transferpresse
US5557959A (en) * 1994-07-25 1996-09-24 Livernois Research & Development Company Modular die transfer system
US5802967A (en) 1995-02-22 1998-09-08 Schuler Pressen Gmbh & Co. Arrangement for transferring workpieces through a succession of machining stations
EP0838281A1 (de) 1995-02-22 1998-04-29 SCHULER PRESSEN GmbH & Co. Vorrichtung zum Transfer von Werkstücken durch eine Folge von Bearbeitungsstationen
EP0728543A1 (de) 1995-02-22 1996-08-28 SCHULER PRESSEN GmbH & Co. Vorrichtung zum transfer von Werkstücken durch eine Folge von Bearbeitungsstationen
US5803231A (en) * 1995-07-20 1998-09-08 Schuler Pressen Gmbh & Co. Transfer arrangement with a three-axle transfer
DE19528002A1 (de) 1995-07-31 1997-02-06 Erfurt Umformtechnik Gmbh Transporteinrichtung für Blechteile in einer Transferpressenlinie
US5640875A (en) * 1995-10-20 1997-06-24 Livernois Die And Automation Die transfer system with modular transfer drive
US5771561A (en) * 1995-11-13 1998-06-30 Schuler Pressen Gmbh & Co. Convertible multistation press
EP0842719A1 (en) 1996-11-15 1998-05-20 Manzoni Presse S.p.A. Transfer device for machine tools
US6176365B1 (en) * 1996-12-18 2001-01-23 Schuler Pressen Gmbh & Co. Transfer system for a timed vehicle transport
US6185979B1 (en) * 1998-05-05 2001-02-13 Schuler Pressen Gmbh & Co. Kg Traverse-type three-axis transfer system
US6234302B1 (en) * 1998-09-11 2001-05-22 Schuler Pressen Gmbh & Co. Kg Transfer system having a failure protection device
DE10158194A1 (de) 2001-11-28 2003-06-18 Mueller Weingarten Maschf Vorrichtung zum Transport von Formteilen
US7128195B2 (en) * 2004-03-22 2006-10-31 Linear Transfer Systems Ltd. Workpiece transfer system for stamping press

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105033087A (zh) * 2015-09-17 2015-11-11 成都爆米花信息技术有限公司 一种钢带自动送料装置
CN105129463A (zh) * 2015-09-17 2015-12-09 成都爆米花信息技术有限公司 一种向钢带裁切机送料的送料机构
CN105151873A (zh) * 2015-09-17 2015-12-16 成都爆米花信息技术有限公司 一种高效钢带送料结构
US11077479B2 (en) * 2016-12-28 2021-08-03 Komatsu Industries Corporation Pressing device and method for controlling pressing device
US11261502B2 (en) * 2018-06-21 2022-03-01 Gestamp Hardtech Ab Method and system for cooling hot components
US11584025B2 (en) 2019-01-18 2023-02-21 Norgren Automation Solutions, Llc Method and apparatus for automated transforming tooling systems
US11878410B2 (en) 2019-01-18 2024-01-23 Norgren Automation Solutions, Llc Method and apparatus for automated transforming tooling systems

Also Published As

Publication number Publication date
CN1913987A (zh) 2007-02-14
EP1708835B1 (de) 2009-04-22
EP1708835A1 (de) 2006-10-11
ES2326325T3 (es) 2009-10-07
CN1913987B (zh) 2010-05-26
KR101110907B1 (ko) 2012-03-13
DE102004005046B4 (de) 2008-01-24
DE502005007134D1 (de) 2009-06-04
WO2005072888A1 (de) 2005-08-11
KR20060126750A (ko) 2006-12-08
DE102004005046A1 (de) 2005-09-01
MXPA06008460A (es) 2007-01-30
US20060260381A1 (en) 2006-11-23
CA2553656A1 (en) 2005-08-11
JP5006050B2 (ja) 2012-08-22
JP2007519529A (ja) 2007-07-19
CA2553656C (en) 2011-08-30

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